Modified Fixation Point Servoing

Visual servoing is, roughly speaking, eye-hand coordination in a robot. This paper describes a fast, accurate visual servoing algorithm that uses fewer position parameters than conventional visual servoing. It does this through techniques of active vision. Although efficient and robust, in its simplest manifestation the original algorithm causes the robot arm to wobble over much of its trajectory to the fixation point. The original algorithm has been modified to eliminate this effect over much of the path